JP3584006B2 - Positioning clamp device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a positioning clamp device for positioning and fixing a panel material at a predetermined position.
[0002]
[Prior art]
The vehicle body is formed by joining a plurality of panel members by spot welding. When spot welding is performed, it is necessary to position and clamp various panel members constituting the vehicle body. Therefore, a plurality of positioning clamp devices are mounted on a welding stage arranged in an automobile production line in order to position and clamp a panel material. Further, a positioning clamp device is attached to the tip of the robot arm, and the panel material is positioned and clamped by the positioning clamp device by operating and moving the robot arm.
[0003]
In any case, the conventional positioning clamp device has a locating pin that fits into a positioning hole formed in a panel material that is a work, and the panel material is positioned by fitting the locating pin into the positioning hole. ing. Further, in order to clamp the panel material, a clamp arm is incorporated in a slit formed in the locating pin, and when clamping the panel material, the clamp arm is protruded from the slit. Such a type of positioning clamp device is disclosed in, for example, JP-A-2000-176874.
[0004]
[Problems to be solved by the invention]
However, the slit formed in the locate pin up to the base end while leaving the distal end thereof penetrates in the radial direction, and the portion where the positioning hole of the panel material fits during the positioning clamp also faces the slit. For this reason, the portion of the locating pin where the positioning hole fits is not a complete circle continuous in the entire circumferential direction, but has a cross-sectional shape in which the slit portion is opened. Therefore, when positioning and clamping a panel material having a square positioning hole, there is a problem that it is not possible to position the panel material at an accurate position using a locating pin having the entire slit opened.
[0005]
In order to position the panel material by fitting the locating pins into the square positioning holes, it is necessary to contact the outer peripheral surfaces of the locating pins with the four inner surfaces of the positioning holes, but the slits face the inner peripheral surfaces of the positioning holes. Then, since the radial dimension of the portion is smaller than the other portions, a gap is generated between the locate pin and the positioning hole, and the panel material cannot be positioned with high accuracy.
[0006]
An object of the present invention is to enable a highly accurate positioning of a panel material having a square positioning hole.
[0007]
[Means for Solving the Problems]
A positioning clamp device according to the present invention includes a work receiving cylinder having a work contact surface at the tip end of which a panel material comes into contact with, and a positioning member formed on the panel material, which is attached to the work reception cylinder so as to protrude from the work contact surface. A locating pin into which the hole fits, and a clamp arm provided in a slit formed in the locating pin, and movable to a forward position into the slit and a retracted position at which a tip portion protrudes from the slit, A clamp piece that bends from the distal end portion to the proximal end portion and fastens the panel material with the work contact surface is provided on the clamp arm, and the positioning hole is fitted to the locate pin of the slit. wherein a portion positioning holes faces, a guide part for a circular continuous outer peripheral surface of the locating pin, circular positioning when Wherein the can either positioning and clamping of panel material having a panel member and square positioning hole having a hole. The positioning clamp device according to the present invention is characterized in that a gap into which the guide portion enters at the time of clamping is formed inside the clamp piece.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view showing a positioning clamp device according to an embodiment of the present invention, FIG. 2 is an enlarged sectional view taken along line AA in FIG. 1, and FIG. 3 is a left side view of FIG. FIG. 4 is a partially enlarged sectional view of FIG. 2, and FIG. 5 is a sectional view taken along line BB in FIG.
[0009]
The illustrated positioning clamp device is applied for positioning and fixing a panel material constituting an automobile body, and includes a fixed work receiving table 10. The work receiving table 10 has a mounting flange portion 10a and a cylindrical portion 10b integrated with one surface of the mounting flange portion 10a, and is mounted on a predetermined assembly stage in an automobile production line at the mounting flange portion 10a. Become. A cylinder tube 11 is fixed to the other surface of the mounting flange 10a, and a piston 12 is mounted in the cylinder tube 11 so as to be reciprocally movable in the axial direction, as shown in FIG.
[0010]
As shown in FIG. 2, the piston rod 13 fixed to the piston 12 penetrates a rod cover 14 attached to one end of the cylinder tube 11 and is inserted into the cylindrical portion 10 b of the work receiving table 10. A head cover 15 is fixed to the other end of the cylinder tube 11, a retraction air pressure chamber 16 a is formed between the rod cover 14 and the piston 12, and a forward air pressure chamber 16 b is provided between the head cover 15 and the piston 12. Is formed. Supply / discharge ports 17a, 17b are formed in the cylinder tube 11 in communication with the respective air pressure chambers 16a, 16b. Therefore, when compressed air is supplied from the supply / discharge port 17a, the piston rod 13 moves backward, and when compressed air is supplied from the supply / discharge port 17b, the piston rod 13 moves forward.
[0011]
As shown in FIG. 2, the head cover 15 is moved in a direction perpendicular to the moving direction of the piston rod 13 in order to fasten the piston rod 13 in a state where the piston rod 13 is moved to the retracted position. A lock piston 18 is freely provided, and a lock rod 19 is attached to the piston 12. An engagement recess 19a is formed in the lock rod 19, and an engagement projection 18a provided at the tip of the lock piston 18 engages with the engagement recess 19a. A forward spring force is applied to the lock piston 18 by the compression coil spring 21, and the lock piston 18 communicates with the supply / discharge port 17b to retreat the lock piston 18 and disengage the engagement projection 18a from the engagement recess 19a. The flow path 22 opens to the pneumatic chamber of the lock piston 18. Therefore, when the piston rod 13 moves to the retreat limit position, the engaging projection 18a of the lock piston 18 enters the engaging recess 19a by the spring force, and the piston rod 13 is fixed at the retreat limit position. Under this state, compressed air is supplied to the supply and discharge port 17 b, together with the lock piston 18 is released of engagement with the lock piston 18 and the lock rod 19 moves backward, the forward pressure chamber 16b The piston rod 13 moves forward by the inflowing compressed air. However, a supply / discharge port may be formed in the head cover 15, and the lock piston 18 may be moved backward by compressed air supplied from the supply / discharge port.
[0012]
A locate pin 23 in which a pin main body 23a and a mounting flange 23b are integrated is attached to a tip of the work receiving base 10 at the mounting flange 23b. This locating pin 23 is as shown in FIG. 6, and has a hemispherical tip. A work receiving cylinder 24 in which the cylindrical portion 24a and the mounting flange portion 24b are integrated is fitted to the outside of the pin body portion 23a of the locate pin 23, and the mounting flange portion 23b of the locate pin 23 is attached to the mounting flange portion 24b. It is attached to the work receiving table 10 through the. The distal end surface of the work receiving cylinder 24 is a work contact surface 24c that comes into contact with the surface of the panel material as a work, and the panel material is positioned by the locating pins 23 being fitted into positioning holes formed in the panel material. Is done.
[0013]
2 and 4, a slit 25 is formed in the locate pin 23, and a clamp arm 26 is arranged in the slit 25. The proximal end of the clamp arm 26 is connected to the distal end of the piston rod 13 by a connecting pin 27. As shown in FIG. 5, both ends of the connecting pin 27 are slidably supported in an elongated hole 28 formed along the axial direction in the cylindrical portion 10b of the work receiving table 10. The axial length of 28 substantially corresponds to the reciprocating stroke of the piston rod 13. Therefore, when the piston rod 13 moves forward, the clamp arm 26 moves forward in the slit 25, and when the piston rod 13 moves backward, the clamp arm 26 moves backward.
[0014]
A cam pin 31 is fixed to the cylindrical portion 10 b of the work receiving table 10 in parallel with the connecting pin 27, and the cam pin 31 passes through a cam groove 32 formed in the clamp arm 26. The cam groove 32 has a straight portion 32a parallel to the longitudinal direction of the clamp arm 26 and an inclined portion 32b connected to the rear end of the straight portion 32a. Therefore, when the piston rod 13 is at the retreat limit position, the distal end of the clamp arm 26 is protruding from the slit 25 as shown in FIG. 4, and when the piston rod 13 is at the forward limit position, as shown in FIG. Since the cam pin 31 enters the inclined portion 32b of the clamp arm 26 as shown by, the tip of the clamp arm 26 enters the slit 25. The end faces of the connecting pin 27 and the cam pin 31 are covered by a cover 29 attached to the work receiving table 10.
[0015]
At the distal end of the clamp arm 26, a clamp piece 33 bent from the distal end toward the proximal end is provided. Inside the clamp piece 33, that is, between the clamp piece 33 and the main body of the clamp arm 26. Has a gap 34 formed therein. On the other hand, when the positioning hole of the panel material is fitted in the locating pin 23 in the slit 25, a guide portion 35 is provided in a portion facing the positioning hole, and the locating pin in the portion where the guide portion 35 is provided is provided. The outer peripheral surface of 23 is a continuous perfect circle. The guide portion 35 enters the gap 34 when the clamp arm 26 reaches the retreat limit position, and the guide portion 35 partially closes the slit 25. The outer peripheral surface of the guide portion 35 is an arc surface having the same radius of curvature as the outer peripheral surface of the locate pin 23.
[0016]
Therefore, as shown in FIG. 7, when the clamp arm 26 is moved backward while the locating pin 23 is fitted in the positioning hole H formed in the panel member P constituting the vehicle body, the clamp piece 33 becomes the guide portion 35. The panel material P is pressed so as to straddle. At this time, since the clamp piece 33 straddles the inner peripheral surface of the positioning hole H and presses the outer side thereof, even if the burr B exists on the edge on the inner peripheral surface, the clamp piece 33 remains flat on the panel material P. The panel material P can be securely fastened in contact with the portion.
[0017]
In addition, a guide portion 35 is provided in a portion of the locate pin 23 where the positioning hole H of the panel material P fits, and the outer peripheral surface of the locate pin 23 including the outer surface of the portion is a perfect circle. Therefore, as shown in FIG. 8A, when the positioning hole H is circular, almost the entire inner peripheral surface thereof is substantially opposed to the outer peripheral surface of the locating pin 23 and almost comes into contact therewith. Further, when the positioning hole H is a square hole as shown in FIG. 8B, at least four locations almost contact the outer peripheral surface of the locate pin 23, so that the center position of the positioning hole H is set at the center of the locate pin 23. The panel material P can be positioned with high precision by reliably matching.
[0018]
FIG. 8C is a view showing a locating pin 23 as a comparative example. The slit 25 of this comparative example is not provided with a guide portion 35, and the portion of the locating pin 23 in which the positioning hole H fits is circular. Not. For this reason, when the locating pin 23 is fitted into the rectangular positioning hole H formed in the panel material P, the width D0 of the portion corresponding to the slit 25 is smaller than the diameter D of the locating pin 23. A gap is generated between the inner peripheral surface of H and the outer peripheral surface of locate pin 23, and it becomes impossible to position panel material P accurately. On the other hand, in the positioning clamp device of the present invention, since the guide portion 35 is provided, the panel material P can be reliably positioned at a predetermined position as described above.
[0019]
As shown in FIGS. 2 and 4, the work receiving cylinder 24 is provided with a detection rod 41 slidably along the axial direction of the work reception cylinder 24. It can protrude from the supporting work contact surface 24c. The detection rod 41 is connected via a connecting member 43 to a sensor plunger 42 slidably mounted in the work receiving base 10 in the axial direction, and is detected by a compression coil spring 44 provided on the work receiving base 10. A spring force is applied to the rod 41 in a direction protruding from the work contact surface 24c. A magnet 45 is attached to the sensor plunger 42, and a magnetic sensor switch 46 that outputs a detection signal in response to the magnetic force of the magnet 45 when the detection rod 41 reaches the retreat limit position is attached to the work receiving base 10. Has been.
[0020]
As described above, since the detection rod 41 is incorporated in the work receiving cylinder 24 having the support surface for guiding the locate pin 23 and supporting the panel material P, the detection rod 41 is attached to the outside of the work reception cylinder 24. The size of the positioning clamp device can be reduced as compared with the case described above, and the detection rod 41 comes into contact with the panel material P near the portion of the panel material P fitted to the locating pin 23. Positioning can be reliably detected.
[0021]
A procedure for positioning and fastening the panel material P using such a positioning clamp device will be described. The panel material P in which the positioning holes H having a predetermined shape are formed in advance is transported to the welding stage by the transport device, and the locate pins 23 are fitted into the positioning holes H. At this time, since the tip of the locate pin 23 has a hemispherical shape, the locate pin 23 is securely fitted into the positioning hole H even if there is an error in the carry-in position. When fitted, the positioning piston rod 13 is at the forward limit position by the piston 12, and the clamp arm 26 has entered the slit 25 as shown by a two-dot chain line in FIG. The panel material P fitted to the locate pin 23 comes into contact with the work contact surface 24c at the tip of the work receiving cylinder 24.
[0022]
When the panel material P comes into contact with the work contact surface 24c, the detection rod 41 is moved backward by the panel material P, and the sensor plunger 42 connected thereto is also moved backward, so that the magnet 45 activates the magnetic sensor switch 46. . It can be confirmed from the signal from the switch 46 that the panel material P has been positioned at a predetermined position.
[0023]
Next, when compressed air is supplied from the supply / discharge port 17a, the piston rod 13 moves backward, and the tip of the clamp arm 26 protrudes from the slit 25, and the panel material P moves between the clamp piece 33 and the work receiving cylinder 24. Is concluded. At this time, the engagement projection 18a of the lock piston 18 engages with the engagement recess 19a of the lock rod 19, and the clamp state of the panel material P by the clamp arm 26 is maintained.
[0024]
The present invention is not limited to the above embodiment, and can be variously modified without departing from the gist thereof. For example, as shown above, the positioning clamp device shown is not only provided on the support base of the assembly stage of the automobile body, but also mounted on the arm of an industrial robot to position the panel material by robot operation. May be.
[0025]
【The invention's effect】
As described above, according to the present invention, since the locating pin in which the clamp arm is incorporated in the slit is provided with the guide portion at the portion where the positioning hole formed in the panel material faces, the inner surface of the positioning hole is provided. Will be positioned by the locate pin which is a continuous circular outer peripheral surface. Thereby, not only a circular positioning hole but also a panel material having a square positioning hole can be positioned with a predetermined accuracy. Since the clamp piece is pressed against the panel material so as to straddle the guide portion, the panel material can be reliably positioned even if burrs are generated on the inner surface edge of the positioning hole.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a positioning clamp device according to an embodiment of the present invention.
FIG. 2 is an enlarged sectional view taken along line AA in FIG.
FIG. 3 is a left side view of FIG.
FIG. 4 is a partially enlarged sectional view of FIG. 2;
FIG. 5 is a sectional view taken along line BB in FIG. 4;
FIG. 6 is a perspective view showing a locate pin.
FIG. 7 is a cross-sectional view showing a state where the panel material is positioned and clamped.
8A is a cross-sectional view taken along the line CC in FIG. 7, and FIG. 8B is a cross-sectional view of a portion similar to FIG. 7A showing a state where a panel material having a square positioning hole is positioned and clamped. FIG. 7C is a cross-sectional view showing a state where a panel material having a square positioning hole is clamped by a positioning clamp device as a comparative example.
[Explanation of symbols]
Reference Signs List 10 Work receiving table 11 Cylinder tube 12 Piston 13 Piston rod 16a, 16b Pneumatic chamber 17a, 17b Supply / discharge port 18 Lock piston 19 Lock rod 21 Compression coil spring 23 Locate pin 24 Work receiving cylinder 24a Cylindrical portion 24c Work contact surface 25 Slit 26 Clamp arm 27 Connecting pin 28 Long hole 31 Cam pin 32 Cam groove 33 Clamp piece 34 Gap 35 Guide part 41 Detection rod 42 Sensor plunger 44 Coil spring 45 Magnet 46 Magnetic sensor switch P Panel material H Positioning hole

Claims (2)

A work receiving cylinder having a work contact surface with which the panel material contacts the tip,
A locating pin that is attached to the work receiving cylinder so as to protrude from the work contact surface, and a positioning hole formed in the panel material fits therein;
The clamp pin is provided in a slit formed in the locate pin, and has a clamp arm that is movable between a forward position into the slit and a retreat position in which a tip portion protrudes from the slit.
A clamp piece that bends from the distal end portion toward the proximal end portion and fastens the panel material with the work contact surface is provided on the clamp arm,
Of the slit, a portion where the positioning hole is opposed to the positioning hole when the positioning hole is fitted to the locate pin, is provided with a guide portion having a continuous circular outer peripheral surface of the locate pin,
A positioning clamp device capable of positioning and clamping any of a panel material having a circular positioning hole and a panel material having a square positioning hole. 2. The positioning clamp device according to claim 1, wherein a gap is formed inside the clamp piece so that the guide portion enters during clamping.

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